Five-axis linkage additive and subtractive composite machine tool and control system

Abstract

This invention belongs to the field of additive-subtractive composite manufacturing technology, and discloses a five-axis linkage additive-subtractive composite machine tool and control system. The machine bed base assembly has left and right guide rail seats symmetrically fixed on both sides of its top. The worktable is fixed in the middle of the machine bed between the two guide rail seats. An integral crossbeam is mounted across the top surface of the left and right guide rail seats and can move linearly along the X-axis. Two independent machining units are mounted in parallel along the Y-axis on the integral crossbeam: the subtractive side crossbeam slide plate carries a subtractive slide block and a subtractive electric spindle actuator, and the additive side crossbeam slide plate carries an additive Z-axis slide table and a double-swing additive head. The worktable is divided along the X-axis into a subtractive-specific machining area, a composite machining area, and an additive-specific machining area. The two machining units can operate independently in their respective dedicated areas, or enter the composite machining area at different times to collaboratively complete the additive-subtractive composite machining. This invention combines high structural rigidity with machining flexibility, avoids secondary workpiece clamping errors, and significantly improves machining efficiency and accuracy.

Description

Technical Field

[0001] This invention belongs to the field of additive and subtractive manufacturing technology, and discloses a five-axis linkage additive and subtractive composite machine tool and control system. Background Technology

[0002] With the rapid development of aerospace, defense, high-end mold making, and new energy equipment, the manufacturing demand for large and complex metal components (such as aerospace structural parts, gas turbine blades, and large mold cavities) continues to increase. These components often use difficult-to-machine materials such as titanium alloys and high-temperature alloys, have complex configurations, and require high precision. Traditional single subtractive cutting or single additive manufacturing processes are difficult to balance manufacturing efficiency, cost, and machining accuracy. Additive-subtractive hybrid manufacturing technology integrates the dual advantages of additive manufacturing (near-net-shape forming, high material utilization, and rapid preparation of complex configurations) and subtractive manufacturing (high precision and high surface quality), becoming the core technology direction for the integrated manufacturing of complex high-performance metal components.

[0003] Currently, the publicly available additive and subtractive composite machine tools are mainly divided into two categories: one is a single gantry structure, which achieves process conversion by switching additive and subtractive machining heads on the same spindle. This type of equipment has obvious defects: first, process switching requires stopping the machine to change the head, the machining path needs to be replanned, the overall machining efficiency is low, and the smoke and dust and thermal deformation generated in the additive process can easily cause pollution and precision interference to the subtractive precision spindle; second, a single motion system cannot simultaneously adapt to the differentiated operation requirements of low speed and high torque in additive machining and high speed and high precision in subtractive machining, and dynamic performance is difficult to balance. Another type is the dual-gantry shared motion axis architecture. Although this type of equipment achieves separation of the material addition and subtraction heads, the two processing systems share some motion axes, which poses a risk of motion coupling interference. It cannot achieve parallel processing of material addition and subtraction processes, and the processing area is not clearly divided, resulting in low safety redundancy. At the same time, most existing dual-gantry equipment is a general-purpose structural design. For heavy-duty scenarios with large 6m worktables, the X-axis transmission often adopts single-side drive or ordinary backlash elimination technology. After long-term operation, the gear and rack backlash increases, and there is a lack of effective compensation mechanisms for crossbeam synchronization error and thermal deformation error. The repeatability accuracy of the X / Y / Z axes is difficult to maintain stably at the 0.005mm level, which cannot meet the high-precision processing requirements of aerospace core components.

[0004] Chinese Patent No. CN116690113A discloses a five-axis linkage arc additive-subtractive composite manufacturing method and apparatus. The process includes: S1. Three-dimensional modeling and contour line offsetting to obtain the contour curve; S2. Generating GI code for the welding torch movement trajectory; S3. Adding arc start and end commands and waiting commands at the arc start and end points to perform additive machining on the workpiece; S4. After additive machining, waiting for the workpiece to cool to room temperature; S5. After the workpiece has cooled, generating GI code for the subtractive path and performing subtractive machining on the workpiece; S6. Real-time monitoring of the milling force exerted by the machine tool on the workpiece during subtractive machining; S7. Repeating steps S1 to S6 until the entire workpiece is machined; S8. Unloading the workpiece. This invention requires only one clamping to achieve additive-subtractive composite manufacturing of the entire part, realizing in-situ additive-subtractive machining, resulting in higher dimensional accuracy of the formed part; measuring the milling force on the workpiece during composite manufacturing monitors the workpiece machining quality and improves the workpiece forming accuracy. The aforementioned method employs a single gantry, single-motion system with an execution-end switching architecture. The additive welding torch and subtractive cutting tools share the same gantry axis system, requiring tool / head changes for process switching. This process switching necessitates machine downtime for head changing operations, resulting in not only lost processing time but also repetitive positioning errors during head changes and rapid accuracy degradation over long-term operation. Furthermore, the lack of partitioned isolation design allows fumes generated during the additive process to easily adhere to the subtractive spindle and tool surfaces, causing wear, while metal chips generated during the subtractive process easily fall into the additive molten pool, forming inclusion defects. The two processes interfere with each other. Therefore, those skilled in the art urgently need to solve these technical problems. Summary of the Invention

[0005] To address the technical problems in the prior art, this invention employs a dual independent slide plate architecture with a single crossbeam. Two additive and subtractive machining systems each have independent motion axes. The worktable is divided into a dedicated machining area and a common collaborative area. Combined with a multi-channel partitioned anti-interference scheduling system, parallel operation or seamless switching between additive and subtractive machining processes can be achieved, eliminating head changing and cooling waiting time, increasing processing efficiency by over 40%, and maintaining a stable positioning accuracy of 0.005mm under full closed-loop control. Simultaneously, it solves the problem of mutual contamination between additive machining dust and subtractive machining chips, adapting to the mass production needs of complex parts.

[0006] To achieve the above technical objectives, the present invention is implemented through the following technical solution: a five-axis linkage additive and subtractive composite machine tool, comprising a bed base assembly, an integral crossbeam, a machining execution unit and a CNC system, wherein the integral crossbeam is horizontally mounted on the left guide rail seat and the right guide rail seat of the bed base assembly, and independent subtractive crossbeam slides and additive crossbeam slides are mounted side by side along the Y direction on the integral crossbeam, wherein each subtractive crossbeam slide and additive crossbeam slide is equipped with independent X-axis, Y-axis and Z-axis motion axes; The bottom end of the subtractive crossbeam slide plate is equipped with a subtractive electric spindle actuator, and the bottom end of the additive crossbeam slide plate is equipped with a double pendulum additive head actuator. The worktable of the bed base component is divided into a subtractive processing area, a composite processing area, and an additive processing area along the X direction. The subtractive crossbeam slide plate and the additive crossbeam slide plate can move independently along the crossbeam to the corresponding processing area, or can work together in the composite processing area at different times.

[0007] By adopting the above technical solution, the dual independent slide and partitioned workbench architecture achieves complete decoupling of the two processing systems for adding and subtracting materials from the physical layout level. This avoids the errors and time losses of changing heads in the traditional single system, and prevents mutual interference between the two types of processes from the root. At the same time, it supports both independent processing and collaborative operation modes, greatly improving the process adaptability and operational flexibility of the equipment.

[0008] Furthermore, the bed base assembly includes a bed, a left guide rail seat, a right guide rail seat, and a worktable. The left and right guide rail seats are box-shaped structures with internal reinforcing ribs, symmetrically fixed on both sides of the top of the bed. The worktable is fixed on the top of the bed and located in the middle area between the left and right guide rail seats. The left and right guide rail seats and the worktable are separate assembly structures. The closed height of the equipment can be adjusted by adjusting the installation height of the left and right guide rail seats.

[0009] By adopting the above technical solutions, the split guide rail base and all-cast iron base structure can flexibly adjust the equipment enclosure height according to the size of the workpiece to adapt to the processing requirements of different specifications of parts. It also improves the overall vibration resistance of the equipment through high-rigidity cast iron material and reinforcing rib structure, ensuring the structural stability of long-term operation.

[0010] Furthermore, two parallel X-direction linear guide rails are arranged on the top surface of the left and right guide rail seats along the X direction, and two sets of sliders are assembled at the bottom of the integral crossbeam corresponding to the position of each guide rail to achieve guiding cooperation. On the outer sides of the left and right guide rails, two sets of servo motors and planetary gearboxes are each set up. The integral crossbeam is driven to move along the X direction through a gear and rack structure. The two sets of servo motors on the same side use the same direction differential speed elimination control to eliminate transmission backlash.

[0011] By adopting the above technical solution, the X-axis dual-motor co-directional differential backlash-free transmission structure can effectively eliminate the internal transmission gap between the gear rack and the gearbox, avoid synchronization errors and backlashes during large stroke operation, and significantly improve the motion accuracy and accuracy retention of the X-axis.

[0012] Furthermore, the area of ​​the integral crossbeam corresponding to the subtractive crossbeam slide plate is the subtractive processing area. The crossbeam in the subtractive processing area adopts a box-in-box structure with cross reinforcing ribs arranged inside. Four linear guide rails arranged in a T-shape are arranged along the Y direction on the surface of the crossbeam facing the subtractive crossbeam slide plate. The subtractive crossbeam slide plate is assembled and cooperated with the four guide rails through eight sets of sliders. The subtractive slide block is slidably assembled on the front end face of the subtractive crossbeam slide plate along the Z direction.

[0013] By adopting the above technical solution, the crossbeam of the subtractive side box and the T-shaped multi-guide rail arrangement structure can significantly improve the torsional rigidity and guiding stability of the crossbeam in the subtractive machining area, meet the dynamic performance requirements of high speed, high precision and anti-overturning in subtractive machining, and ensure the surface quality and dimensional accuracy of milling.

[0014] Furthermore, the area of ​​the integral crossbeam corresponding to the additive crossbeam slide plate is the additive processing area. The top surface of the crossbeam in the additive processing area is fixedly equipped with a Y-direction auxiliary upper guide rail, and the side facing the additive crossbeam slide plate is fixedly equipped with a Y-direction side auxiliary guide rail. The two guide rails are arranged parallel along the Y direction. The back of the additive crossbeam slide plate is assembled with the two Y-direction guide rails through a slider. The left and right sides of the additive crossbeam slide plate are fixedly equipped with a left support plate and a right support plate, respectively. The top of the additive crossbeam slide plate is fixedly equipped with an L-shaped heightening seat. The mating side of the additive crossbeam slide plate and the Y-direction guide rail is equipped with a Y-direction pressure plate to adjust the guide rail mating gap.

[0015] By adopting the above technical solutions, the additive side composite guide rail and slide plate reinforcement structure can adapt to the high load and high torsional stress requirements of additive processing, avoid slide plate deformation and guide rail wear under long-term heavy load operation, and ensure the operational stability of the additive process.

[0016] Furthermore, the surface of the additive crossbeam slide facing the processing end is arranged with four symmetrically distributed roller-type linear guides along the Z direction. The additive Z-direction slide is a vertical box-shaped structure with multiple sets of hollowed-out rectangular reinforcing windows on the surface. The back is assembled and cooperated with the Z-guides through a slider. A rectangular Z-axis slide plate is fixedly mounted on the top of the additive Z-axis slide, and a long strip Z-axis grating ruler bracket is fixedly mounted on the side facing the additive crossbeam slide. A circular hub is fixedly mounted on the lower middle side of the additive Z-axis slide to store the power and signal cables of the double pendulum additive head.

[0017] By adopting the above technical solutions, the additive Z-axis slide structure not only reduces the slide's weight and improves the Z-axis dynamic response speed by ensuring rigidity through hollow reinforcement design, but also ensures position feedback accuracy while avoiding the impact of cable pulling on motion accuracy through dedicated grating ruler bracket and hub design.

[0018] Furthermore, the actuating end of the double-pendulum additive head is fixedly mounted on the bottom end of the additive Z-axis slide, and has a pendulum freedom of ±90° on the A-axis and ±180° on the C-axis; An annular flared fume hood is fixedly mounted on the outside of the nozzle of the double-swing additive head, enclosing the processing area.

[0019] By adopting the above technical solution, the dual-swing additive head and integrated fume hood structure not only enable additive processing at any spatial angle through the dual-degree-of-freedom swing head, adapting to the forming requirements of complex curved parts, but also promptly extract the smoke and dust generated during the additive process through the in-situ fume hood, avoiding smoke and dust contamination of machine tool components and affecting processing quality.

[0020] Furthermore, at least 40 independent lubrication points are arranged in the subtractive processing area, and at least 37 independent lubrication points are arranged in the additive processing area. All lubrication points are connected to the oil distributor of the equipment's automatic lubrication system through pipelines. Each chip discharge port in the additive processing area and the subtractive processing area is equipped with an independent scraper-type chip discharge unit.

[0021] By adopting the above technical solutions, the zoned lubrication and independent chip removal structure can be customized to meet the different lubrication and chip removal needs of the additive and subtractive processing areas, avoiding component wear caused by insufficient lubrication, preventing cross-contamination of chips and dust generated by the two types of processing, and reducing equipment maintenance costs.

[0022] The present invention further discloses a control system for a five-axis linkage additive-subtractive composite machine tool, used to control the five-axis linkage additive-subtractive composite machine tool, comprising: Main control module: Built on a multi-channel CNC platform, it is the core control unit of the system, with a built-in custom instruction set for additive and subtractive composite processes and a customized human-machine interface; Subtractive manufacturing process control submodule: The communication end is connected to the main control module, and the output end is connected to the subtractive electric spindle, tool magazine, and cutting cooling unit. It is used to parse the subtractive machining path and output the corresponding process execution instructions. Additive manufacturing process control submodule: The communication end is connected to the main control module, and the output end is connected to the double swing additive head, filament feeding mechanism, and dust collection unit. It is used to analyze the additive processing path and output the corresponding process execution instructions. Full closed-loop servo drive submodule: The communication end is connected to the main control module, and the input and output ends are connected to the servo motors of each axis, the Z-axis grating ruler bracket and the encoder feedback unit. It is used to collect position feedback data of each axis, compensate for mechanical errors and output axis motion drive commands. Welding power source slave module: It connects to the main control module via real-time Ethernet protocol and connects to the additive welding power source for transmitting customized waveform control commands to the welding power source, while collecting current, voltage, and temperature operating status data of the welding power source. Auxiliary system control submodule: The communication end is connected to the main control module, and the output end is connected to the lubrication system, scraper chip removal system, and pneumatic system. It is used to control the start and stop of each auxiliary unit, adjust the operating parameters, and monitor the status.

[0023] By adopting the above technical solution and multi-channel integrated control system architecture, additive manufacturing equipment such as welding power supplies are deeply integrated into the CNC system as slave stations, realizing real-time data synchronization of all sub-modules. All process parameters can be adjusted without additional operation of external equipment, greatly simplifying the process operation process.

[0024] Furthermore, the main control module first calls the built-in machining partition anti-interference scheduling logic, determines the workbench area permission corresponding to the current machining task, and then issues instructions. It issues machining instructions for the subtractive process control submodule only, machining instructions for the additive process control submodule only, or machining instructions for the composite machining area simultaneously to the two process control submodules, so as to realize the seamless switching and collaborative operation of additive and subtractive processes. After receiving the scheduling instruction, the subtractive process control submodule sends the subtractive path motion parameters to the fully closed-loop servo drive submodule, and at the same time sends the coordinated action instruction to the tool magazine and the cutting cooling unit. The fully closed-loop servo drive submodule collects feedback data from the grating rulers of each axis in real time, compensates for thermal deformation errors, and drives the subtractive gantry assembly to run along the planned path. The processing status data is transmitted back to the main control module in real time. After receiving the scheduling instruction, the additive manufacturing process control submodule sends the additive path motion parameters to the fully closed-loop servo drive submodule, and at the same time sends the coordinated action instruction to the wire feeding mechanism and the dust collection unit. While the fully closed-loop servo drive submodule drives the additive gantry assembly to run along the planned path, the main control module synchronizes the welding torch movement trajectory, welding power output parameters and wire feeding rate in real time from the welding power station submodule to form a closed-loop control of the additive layer width or layer height. During the processing, the auxiliary system control submodule receives synchronization instructions from the main control module and automatically triggers corresponding lubrication point oil supply, chip conveyor start / stop, and pneumatic unit air supply actions according to the processing technology type. If an abnormal operation of the auxiliary unit is detected, an alarm signal is directly uploaded to the main control module, triggering the processing pause logic.

[0025] The beneficial effects of this invention are as follows: 1. This invention sets two completely independent additive and subtractive manufacturing crossbeam slides on the same crossbeam and divides the worktable into three functional processing areas: a subtractive manufacturing exclusive area, a common collaborative area, and an additive manufacturing exclusive area. This achieves complete decoupling of the additive and subtractive manufacturing system from a physical layout perspective. It eliminates the time loss and positioning error of traditional single-architecture head changing and avoids mutual interference of smoke and chips during the operation of the two processes. At the same time, it supports two modes: parallel processing of multiple workpieces and collaborative processing of the same part, which greatly improves the processing efficiency and process adaptability of the equipment. 2. This invention addresses the differentiated load requirements of additive and subtractive manufacturing processes by customizing a multi-rail beam structure for the subtractive side box and a composite rail reinforced slide plate structure for the additive side, and adopting an X-axis dual-motor co-directional differential speed backlash-free transmission scheme. While taking into account the dynamic performance requirements of the two types of processing, it eliminates the backlash error of large-stroke transmission, significantly improving the overall rigidity, operational stability, and accuracy retention of the equipment. 3. By building a multi-channel integrated control architecture, the additive welding power supply is deeply integrated into the CNC system as a slave station, realizing millisecond-level data synchronization of all process modules. The entire process parameter adjustment can be completed without additional operation of external equipment, which greatly simplifies the operation process of composite processing and reduces the operation complexity. 4. This invention, through its built-in processing partition anti-interference scheduling logic and dual-process specialized closed-loop control strategy, can automatically match the regional permissions of processing tasks to achieve seamless switching between additive and subtractive processes. At the same time, it designs specialized control logic for subtractive thermal deformation error compensation and additive layer parameter synchronous control, which not only ensures the safety of the processing process, but also significantly improves the forming accuracy and quality consistency of the parts. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the guide rail base of the present invention; Figure 3 This is a schematic diagram of the additive crossbeam structure of the present invention; Figure 4 This is a schematic diagram of the subtractive beam structure of the present invention; Figure 5 This is a schematic diagram of the structure of the column sliding plate of the present invention; Figure 6 This is a schematic diagram of the explosion of the subtractive material slide block of the present invention; Figure 7 This is a schematic diagram of the explosion of the additive ram of the present invention; Figure 8 This is a schematic diagram of the structure of the double-pendulum additive head of the present invention; Figure 9 This is a schematic diagram of the initial state of the present invention; Figure 10 This is a schematic diagram of the subtractive processing method of the present invention; Figure 11 This is a schematic diagram of the additive manufacturing process of this invention. Figure 12 This is a schematic diagram of the anti-collision structure of the present invention; Figure 13 This is a schematic diagram illustrating the simultaneous operation of subtractive and additive manufacturing in this invention. Figure 14 This is a schematic diagram of the anti-collision switch of the present invention.

[0027] Among them, 11-bed base component; 111-bed; 112-left guide rail seat; 113-right guide rail seat; 114-internal reinforcing rib; 115-worktable; 1151-subtractive machining area; 1152-composite machining area; 1153-additive machining area; 116-X-direction linear guide rail; 12-integral crossbeam; 121-cross reinforcing rib; 122-linear guide rail; 123-Y-direction auxiliary upper guide rail; 124-Y-direction side auxiliary guide rail 13-Slider; 14-X-direction drive unit; 141-Servo motor; 142-Planetary gearbox; 143-Gear and rack structure; 144-Planetary gearbox transition plate; 145-Planetary gearbox adjusting plate; 146-Slide pressure plate; 15-Column slide; 16-Subtractive machining system; 161-Subtractive crossbeam slide plate; 1611-Left support plate; 1612-Right support plate; 1613-Subtractive balance cylinder support seat; 1614-Subtractive Balance cylinder top plate seat; 1615-Slide plate lower support plate; 1616-Upper side adjusting block; 162-Reduced material slide block; 163-Reduced material electric spindle actuator end; 171-Additive material crossbeam slide plate; 1711-Left support plate; 1712-Right support plate; 1713-L-type heightening seat; 1714-Y-direction pressure plate; 1715-Brake iron; 1716-Y-direction linear guide pressure block; 172-Additive material Z-direction slide table; 1721-Z-direction slide table top plate; 1722 -Z-axis grating ruler bracket; 1723-hub; 173-double pendulum additive head; 1731-double pendulum additive head actuator; 1732-C-axis rotating base; 1733-A-axis swing bracket; 1734-additive head nozzle body; 1735-fume hood; 181-oil distributor; 182-scraper chip removal unit; 20-anti-collision structure; 21-anti-collision bracket; 22-limit switch; 23-stop block; 24-limit switch mounting bracket. Detailed Implementation

[0028] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] Reference Figures 1-10As can be seen, in this invention, a five-axis linkage additive and subtractive machining composite machine tool, the bed 15 of the bed base assembly 1 is the lowest load-bearing foundation of the entire machine. The left guide rail seat 11 and the right guide rail seat 12 are box-shaped structures with internal reinforcing ribs 13, symmetrically fixed on both sides of the top of the bed 15. The worktable 14 is fixed on the top of the bed 15 and located in the middle area between the left guide rail seat 11 and the right guide rail seat 12. The left guide rail seat 11, the right guide rail seat 12 and the worktable 14 are separate assembly structures, and the closed height of the equipment can be adjusted by adjusting the installation height of the guide rail seats. The worktable 14 is divided into a subtractive machining area 141, a composite machining area 142 and an additive machining area 143 along the X direction. Two parallel X-direction linear guide rails are arranged on the top surface of the left guide rail seat 11 and the right guide rail seat 12 along the X direction. 15. Two sets of sliders 16 are installed at the bottom of the integral crossbeam 2 corresponding to the position of each X-direction linear guide rail 15 to achieve guiding cooperation. Two sets of servo motors 171 and planetary gearboxes 172 are set on the outer side of the left guide rail seat 11 and the right guide rail seat 12, respectively. The integral crossbeam 2 is driven to move along the X direction through the gear and rack structure 173. The two sets of servo motors 171 on the same side adopt the same direction differential speed elimination control to eliminate transmission backlash. Independent subtractive crossbeam slide plates 31 and additive crossbeam slide plates 41 are installed side by side along the Y direction on the integral crossbeam 2. Each set of slide plates is equipped with independent X-direction, Y-direction, and Z-direction motion axes. The area of ​​the integral crossbeam 2 corresponding to the subtractive crossbeam slide plate 31 is the subtractive processing area 141. The crossbeam in this area adopts a box-in-box structure and the internal arrangement is as follows. Cross-reinforcing ribs; four T-shaped linear guides are arranged along the Y-direction on the surface of the subtractive beam slide plate 31 facing the beam. The subtractive beam slide plate 31 is assembled with the four guides via eight sets of sliders 16. The subtractive ram 32 is slidably assembled on the front end face of the subtractive beam slide plate 31 along the Z-direction. The subtractive electric spindle actuator end 33 is assembled on the bottom end of the subtractive beam slide plate 31. The area of ​​the integral beam 2 corresponding to the additive beam slide plate 41 is the additive processing area 143. In this area, the top surface of the beam is fixedly equipped with a Y-direction auxiliary upper guide rail 42, and the side facing the additive beam slide plate 41 is fixedly equipped with a Y-direction side auxiliary guide rail 43. The two guide rails are arranged parallel along the Y-direction. The back of the additive beam slide plate 41 is assembled with the two Y-direction guide rails via sliders 16. Left support plate 44 and right support plate 45 are fixedly mounted on the left and right sides respectively. L-shaped heightening seat 46 is fixedly mounted on the top. Y-axis pressure plate 47 is mounted on the mating side with Y-axis guide rail to adjust the mating clearance of guide rail. Four symmetrically distributed roller-type linear guide rails 49 are arranged along the Z-axis on the surface of additive beam slide plate 41 facing the processing end. Additive Z-axis slide table 51 is a vertical box-type structure with multiple sets of hollow rectangular reinforcing windows on the surface. The back is assembled with Z-axis guide rail through slider 16. Rectangular Z-axis slide table top plate 52 is fixedly mounted on the top of additive Z-axis slide table 51. Long strip Z-axis grating ruler bracket 53 is fixedly mounted on the side facing additive beam slide plate 41. Circular hub 54 is fixedly mounted on the lower middle side to store the power and signal cables of double pendulum additive head 6.The double-swing additive head actuator 61 is fixedly mounted on the bottom end of the additive Z-axis slide 51, possessing ±90° A-axis and ±180° C-axis swing freedom. An annular flared fume hood 62 is fixedly mounted on the outside of the nozzle of the double-swing additive head 6, enclosing the processing area. At least 40 independent lubrication points are arranged in the subtractive processing area 141, and at least 37 independent lubrication points are arranged in the additive processing area 143. All lubrication points are connected to the oil distributor of the equipment's automatic lubrication system via pipelines. Independent scraper-type chip removal units 7 are installed at the chip removal ports of both the additive processing area 143 and the subtractive processing area 141.

[0030] In one embodiment, refer to Figure 2 As can be seen, the bed 15 of the bed base component 1 is the bottom load-bearing component of the whole machine. The left guide rail seat 11 and the right guide rail seat 12 are box-shaped structures with internal reinforcing ribs 13, symmetrically fixed and assembled on the left and right sides of the top of the bed 15. The worktable 14 located in the middle area of ​​the two sets of guide rail seats is a separate assembly structure. The closed height of the equipment can be adjusted by adjusting the installation height of the left guide rail seat 11 and the right guide rail seat 12, which solves the problem that the traditional integrated guide rail seat cannot adapt to the processing needs of workpieces of different heights. At the same time, the internal reinforcing rib 13 structure greatly improves the torsional rigidity and vibration resistance of the guide rail seat, avoiding structural deformation under long-term heavy load operation. The top surface of the left guide rail seat 11 and the right guide rail seat 12 is arranged along the X direction, that is, two parallel X-direction linear guide rails 15 in the front and rear directions of the machine tool. The bottom of the integral crossbeam 2 corresponds to each X-direction linear guide rail. Two sets of sliders 16 are installed at each position of rail 15 to achieve guiding cooperation. Two sets of servo motors 171 and planetary gearboxes 172 are set on the outer side of the left guide rail seat 11 and the right guide rail seat 12, respectively. The integral crossbeam 2 is driven to move along the X direction through the gear and rack structure 173. The two sets of servo motors 171 on the same side adopt the same direction differential speed backlash elimination control to eliminate transmission backlash, which solves the problems of reverse backlash and low synchronization accuracy of large stroke operation in traditional single motor X direction transmission. The double guide rail double slider guiding structure can bear the load of two independent additive and subtractive processing systems, ensuring the positional accuracy and running stability of the subtractive crossbeam slide plate 31 and the additive crossbeam slide plate 41 when they move independently along the integral crossbeam 2 to the subtractive processing area 141, the composite processing area 142, and the additive processing area 143, thereby improving the processing accuracy and accuracy retention of the equipment.

[0031] In one embodiment, refer to Figure 3As can be seen, the integral crossbeam 2 belonging to the additive manufacturing side serves as the main load-bearing component of the additive manufacturing system. Its top surface in the additive manufacturing area is fixedly equipped with a Y-direction auxiliary upper guide rail 42, and its side facing the manufacturing end is fixedly equipped with a Y-direction side auxiliary guide rail 43. The two guide rails are arranged parallel along the Y direction. The back of the additive manufacturing crossbeam slide plate 41 is fitted with the two Y-direction guide rails via a slider 16. A left support plate 44 and a right support plate 45 are fixedly installed on the left and right sides of the additive manufacturing crossbeam slide plate 41, respectively. An L-shaped heightening seat 46 is fixedly installed on the top. A Y-direction pressure plate 47 is installed on the mating side of the additive manufacturing crossbeam slide plate 41 with the Y-direction guide rails to adjust the guide rail mating clearance, thus solving the problem of traditional single-rail support for the additive manufacturing slide plate load. The shortcomings of traditional additive manufacturing include the tendency for swaying deformation during long-term heavy-load operation and the inability to flexibly adjust guide rail clearance. The dual-guide rail composite support and reinforcement structure can adapt to the high load and high torsional stress requirements of additive manufacturing, preventing swaying during slide plate operation and improving the stability and precision retention of Y-axis motion. Four symmetrically distributed roller-type linear guides 49 are arranged along the Z-axis on the surface of the additive beam slide plate 41 facing the machining end. The additive Z-axis slide table 51 is a vertical box-shaped structure with multiple sets of hollowed-out rectangular reinforcement windows on its surface. The back is assembled with the Z-axis guide rails via sliders 16. A rectangular Z-axis slide table top plate 52 is fixedly mounted on the top of the additive beam slide table 51. A long strip-shaped Z-axis grating ruler bracket 53 is fixedly mounted on the side, and a circular hub 54 is fixedly mounted on the lower middle side to house the power and signal cables of the double-swing additive head 6. This solves the problems of poor dynamic response, cable pulling interference with motion accuracy, and insufficient installation accuracy of position feedback components caused by the excessive weight of traditional Z-axis slides. The hollow reinforcement design significantly reduces the weight while ensuring the rigidity of the slide structure, improving the dynamic response speed of the Z-axis. The hub can organize the cables to avoid pulling interference during operation. The dedicated Z-axis grating ruler bracket ensures the installation accuracy of position feedback, further improving the positioning accuracy of additive processing. The actuator end 61 of the double-swing additive head is fixedly mounted on the additive Z-axis. The bottom of the slide table 51 has a swing freedom of ±90° on the A-axis and ±180° on the C-axis. The outer side of the nozzle of the double-swing additive head 6 is fixedly equipped with an annular horn-shaped fume hood 62 surrounding the processing area. This solves the problems of insufficient swing freedom of traditional additive heads, which cannot process complex curved surface structures, and the pollution of equipment parts and the impact on workpiece forming quality caused by the smoke and dust generated during the additive process. The double-swing structure can realize additive processing at any spatial angle, which is suitable for the forming requirements of complex parts with irregular curved surfaces and suspended features. The fume hood set in place can timely suck up the smoke and dust generated during the additive process, and prevent smoke and dust from adhering to the guide rail and workpiece surface, which will affect the processing accuracy and service life of the equipment.

[0032] In one embodiment, refer to Figure 4It can be seen that the integral crossbeam 2 belonging to the subtractive processing side is a box-in-box structure with internal reinforcing ribs 13. As the main load-bearing component of the subtractive processing system, four T-shaped linear guides are arranged along the Y direction on the surface of its subtractive processing area 141 facing the processing end. The subtractive processing side T-shaped Y-direction auxiliary upper guide rail 42 and Y-direction auxiliary guide rail 43 are arranged. The subtractive crossbeam slide plate 31 is assembled with the above-mentioned guide rails through eight sets of sliders 16. The left support plate 44 and the right support plate 45 of the subtractive crossbeam slide plate are fixedly assembled on the left and right sides of the subtractive crossbeam slide plate 31, respectively. The subtractive balance cylinder support seat is fixedly assembled in the middle of the slide plate, and the subtractive balance cylinder top plate seat is fixedly assembled at the top. The subtractive Z-direction slide table 32 is slidably assembled on the front end face of the subtractive crossbeam slide plate 31 along the Z direction. The bottom end of the subtractive Z-direction slide table 32 is... The fixed assembly of the subtractive electric spindle actuator end 33, i.e. the subtractive head, solves the problems of insufficient torsional rigidity of the traditional subtractive beam, easy chatter deformation under large cutting forces, poor anti-overturning ability of single-row guide rails, and large motion return error caused by the self-weight of the Z-axis slide. The box-in-box reinforced structure greatly improves the dynamic and static rigidity and vibration resistance of the beam. The T-shaped multi-guide rail and multi-slider guide structure can effectively bear the lateral cutting force during the subtractive machining process, avoid slide swaying and overturning. The balance cylinder support structure can offset the self-weight of the subtractive Z-axis slide and electric spindle, reduce the Z-axis drive load and return error, ensure the running stability during large-mass milling, improve the surface quality and dimensional accuracy consistency of subtractive machining, and adapt to the needs of high-strength and high-precision milling.

[0033] In one embodiment, refer to Figure 5 As can be seen, the column slide is a box-shaped structure with internal reinforcing ribs 13 and hollowed-out weight-reducing cavities. It is the core connecting and load-bearing component between the X-axis transmission and the integral crossbeam 2. Two sets of independent motors 171 and reducers 172 are assembled on its left and right end faces through X-axis reducer transition plates and reducer adjustment plates, respectively. The output end of the reducer is equipped with a lubricating gear 173, which meshes with the racks on the left guide rail seat 11 and the right guide rail seat 12 to achieve transmission. The side of the column slide that mates with the X-axis linear guide rail 15 is equipped with a slide pressure plate to adjust the guide rail mating clearance. This structure solves the problems of insufficient rigidity and easy deformation of traditional column slides, inflexible adjustment of the assembly accuracy of transmission components, difficulty in compensating for gear and rack meshing clearance, and long-term operation. To address the issue of rapid decline in transmission accuracy due to wear, the box-type reinforced structure reduces the weight of the slide while ensuring load-bearing rigidity and torsional resistance. The split-type reducer transition plate and adjustment plate allow for flexible adjustment of the meshing depth between the lubrication gear and the rack. Combined with the same-direction differential backlash elimination control of two independent transmission components, reverse transmission backlash can be completely eliminated. The lubrication gear can continuously apply oil to the rack surface during transmission, reducing the wear rate of transmission components. The slide pressure plate can flexibly adjust the fit clearance according to the wear condition of the guide rail, significantly improving the synchronization accuracy and accuracy retention of the X-axis large stroke operation, reducing the later maintenance cost of the equipment, and ensuring the X-axis positioning accuracy when the two processing systems for material addition and subtraction are operating independently or in tandem.

[0034] In one embodiment, refer to Figure 6 As can be seen, the subtractive beam slide plate 31 is a box-shaped reinforced load-bearing structure. The left, right, and right connecting platforms of the subtractive beam slide plate are fixedly mounted on its left and right sides respectively. A lower support plate is fixedly mounted at the bottom to form an integrated support frame. A subtractive balance cylinder support seat is fixedly mounted in the middle of the subtractive beam slide plate 31, and a subtractive balance cylinder top plate seat is fixedly mounted at the top. The two ends of the balance cylinder are connected to the subtractive balance cylinder support seat and the subtractive balance cylinder top plate seat respectively to achieve counterweight for the subtractive slide block. The Z-axis drive screw is arranged along the length of the subtractive slide block in the middle area of ​​the subtractive beam slide plate 31. The upper female adjusting block 1616 is mounted at the mating position between the subtractive beam slide plate 31 and the screw nut to adjust the preload clearance of the screw. A grating ruler is arranged along the Z-axis parallel to the screw on the side of the subtractive slide block to achieve position feedback. The back of the subtractive slide block 32, i.e., the subtractive Z-axis slide, is assembled with the Z-axis guide rail of the subtractive beam slide plate 31 via a slider. The bottom of the slide 32 is fixedly equipped with the subtractive five-axis head 33, which is the actuator of the subtractive electric spindle. This structure solves the problems of insufficient torsional rigidity of traditional subtractive slides, easy deformation and wobble under large cutting forces, large Z-axis return error caused by the slide's own weight, inflexible compensation of lead screw transmission clearance, and large machining dimensional error caused by insufficient position feedback accuracy. The combination structure of the two side slide plates and the bottom support plate greatly improves the overall rigidity and anti-overturning ability of the slide assembly. The balance cylinder can offset the self-weight of the subtractive slide and the subtractive five-axis head, reduce the Z-axis drive load and motion return error. The upper female adjustment block 1616 can flexibly adjust the preload clearance of the lead screw to compensate for the wear of the lead screw during long-term operation. The parallel arrangement of the grating ruler realizes the full closed-loop position feedback of Z-axis motion, which greatly improves the Z-axis positioning accuracy and dynamic response speed of subtractive machining, and ensures the machining dimensional stability and surface quality under different process scenarios such as large-margin milling and high-precision finishing.

[0035] In one embodiment, refer to Figure 7As can be seen, the additive crossbeam slide plate 41 is the main load-bearing component of the additive Z-axis slide block. A crossbeam slide plate heightening seat 46 is fixedly mounted on its top. Brakes 47, Y-axis linear guide blocks, and Y-axis pressure plates 48 are sequentially mounted on the mating side of the integral crossbeam 2Y-axis guide rail to adjust the guide rail mating clearance. Four parallel linear guides 49 (roller-type linear guides) are arranged along the Z-axis on the surface of the additive crossbeam slide plate 41 facing the machining end. A balance cylinder mounting seat is fixedly mounted in the middle area of ​​the additive crossbeam slide plate 41 for installing the additive Z-axis counterweight balance cylinder. The Z-axis slide additive 51, i.e., the back of the additive Z-axis slide, is assembled with the linear guides 49 via a slider. A Z-axis slide top plate 52 is fixedly mounted on the top of the Z-axis slide additive 51, and the bottom is used to assemble the double-swing additive head execution end 61. This structure solves the problem of insufficient torsional rigidity in traditional additive slide blocks. The problems of inaccurate adjustment of the gap between the foot and guide rail, easy Y-axis sway during long-term operation, large return error caused by the weight of the Z-axis large-stroke slide table, and structural deformation under the load of the additive head affecting the forming accuracy are addressed by the combination adjustment structure of the brake iron, Y-axis pressure plate, and linear guide pressure block. This structure can precisely adjust the Y-axis guide rail clearance, eliminating swaying and shaking during the operation of the additive ram. The crossbeam slide plate heightening seat increases the maximum stroke of the Z-axis slide table, adapting to the additive processing needs of workpieces of different heights. The counterweight balance cylinder can offset the weight of the additive ram and the double-swing additive head, reducing the Z-axis drive load and motion return error. The multi-linear guide support structure greatly improves the torsional rigidity of the additive ram, avoids vibration during additive processing, ensures the consistency of the additive forming layer thickness and surface quality, and adapts to the additive manufacturing needs of large-size complex structural parts.

[0036] In one embodiment, refer to Figure 8As can be seen, the dual-swing additive head actuator 61 is fixedly mounted to the bottom of the additive Z-axis slide 51 via a mounting flange. Its C-axis rotating base is coaxially and securely connected to the bottom mounting surface of the additive Z-axis slide 51. The C-axis drive module is integrated inside the C-axis rotating base, which can drive the A-axis swing bracket below the base to achieve circumferential rotation of ±180° around the Z-axis. The A-axis drive module is integrated on both sides of the power output end of the A-axis swing bracket. The additive head nozzle body is mounted on the power output end of the A-axis swing bracket, which can achieve pitch swing of ±90° around a horizontal axis perpendicular to the Z-axis with the A-axis drive. An annular flared fume hood 62 is fixedly mounted on the outside of the additive head nozzle, surrounding the processing area. This structure solves the problem of insufficient swing freedom of traditional additive heads, which can only achieve deposition processing in a fixed direction. However, it cannot meet the forming requirements of complex parts with irregular curved surfaces, undercuts, and suspended features. Moreover, the dust and splatter generated during the additive manufacturing process can easily contaminate the workpiece surface and moving parts of the equipment, affecting the forming quality and the service life of the equipment. The dual-axis linkage swing structure can realize additive deposition processing at any spatial angle. It can complete the forming of complex curved surfaces and unsupported suspended structures without additional adjustment of the workpiece clamping posture, reducing the positioning error caused by secondary workpiece clamping, improving the processing efficiency and forming accuracy of complex parts. The in-situ fume hood 62 can extract the dust and molten splatter generated by additive manufacturing in real time during the processing, preventing dust from adhering to the workpiece surface and affecting the forming density and surface quality. At the same time, it reduces the wear caused by dust entering the guide rails and other moving parts, extending the equipment maintenance cycle and service life.

[0037] In one embodiment, refer to Figure 9 and Figure 10 It is known that the present invention also discloses a five-axis linkage additive and subtractive composite machine tool control system for controlling a five-axis linkage additive and subtractive composite machine tool, including a main control module: built on a multi-channel CNC platform, serving as the core control unit of the system, with a built-in custom instruction set for additive and subtractive composite processes and a customized human-machine interface; Subtractive manufacturing process control submodule: The communication end is connected to the main control module, and the output end is connected to the subtractive electric spindle, tool magazine, and cutting cooling unit. It is used to parse the subtractive machining path and output the corresponding process execution instructions. Additive manufacturing process control submodule: The communication end is connected to the main control module, and the output end is connected to the double swing additive head 6, the wire feeding mechanism, and the dust collection unit. It is used to analyze the additive processing path and output the corresponding process execution instructions. Full closed-loop servo drive submodule: The communication end is connected to the main control module, and the input and output ends are connected to the servo motors 171 of each axis, the Z-axis grating ruler bracket 53 and the encoder feedback unit, which are used to collect position feedback data of each axis, compensate for mechanical errors and output axis motion drive commands. Welding power source slave module: It connects to the main control module via real-time Ethernet protocol and connects to the additive welding power source for transmitting customized waveform control commands to the welding power source, while collecting current, voltage, and temperature operating status data of the welding power source. Auxiliary system control submodule: The communication end is connected to the main control module, and the output end is connected to the lubrication system, scraper chip removal system, and pneumatic system. It is used to control the start and stop of each auxiliary unit, adjust the operating parameters, and monitor the status.

[0038] The supporting system of this five-axis linkage additive and subtractive machining center covers five major functional modules: transmission control, stroke control, lubrication, chip removal, and pneumatics. It adapts to the independent / cooperative operation requirements of dual machining units, ensuring high-precision, high-reliability long-term operation of the equipment. In the transmission control system, the Y and Z axes adopt a high-precision ball screw transmission architecture. The Y-axis uses a servo motor directly driven by the ball screw via a coupling, while the Z-axis is equipped with a precision reducer to increase output torque. Both axes' mechanical structures include servo motors, couplings, high-precision bearings, ball screws, nut mounting seats, and related support components. The long lead screw uses a pre-tensioned installation method to offset the risks of thermal expansion and vibration, solving the problems of slow response, insufficient rigidity under heavy loads, and accuracy degradation caused by thermal deformation of long-stroke lead screws in traditional lead screw drives. Combined with the 0.01mm positioning accuracy of the X / Y / Z axes… The design parameter of 0.005mm repeatability ensures the smooth operation, dynamic response accuracy, and positioning accuracy of the Y / Z axes within their stroke range, adapting to the high-precision motion requirements of additive and subtractive machining. The X-axis adopts a gear and rack transmission control system, consisting of a reducer, reducer transition plate, gears, and lubrication gears. The reducer is fixed to the column slide plate after being connected to the reducer adjustment shim. The gear and rack meshing clearance can be adjusted by adjusting the shim plate. It has the advantages of high running speed, good stability, high output torque, low backlash, and low noise under large stroke, solving the problems of limited length, insufficient rigidity, and high cost of large stroke X-axis transmission screws. It adapts to the large-span X-axis running requirements of the 6000mm length of the worktable 14, ensuring the synchronization accuracy and transmission efficiency of the X-axis movement of the subtractive crossbeam slide plate 31 and the additive crossbeam slide plate 41. The travel control system divides the worktable 14 along the X direction into a 1000mm dedicated processing area 141 for subtractive head, a 1000mm composite processing area 142, and a 1000mm dedicated processing area 143 for additive head. The main control module manages the running path of the two processing units. The subtractive beam slide 31 and the additive beam slide 41 can run independently to their respective dedicated processing areas, or enter the composite processing area 142 at different times to work together. Simultaneous entry into the composite processing area is prohibited. This solves the problems of path interference between the two processing units and the inability to flexibly switch and coordinate additive and subtractive processes. It realizes in-situ composite processing of additive deposition and subtractive finishing, avoids positioning errors caused by repeated clamping of workpieces, and improves the processing efficiency and forming accuracy of complex parts. The lubrication system adopts an automatic quantitative and timed lubrication architecture. In the subtractive machining area 141, there are 40 independent lubrication points: 16 for the X-axis slider, 4 for the X-axis gear, 10 for the Y-axis slider, 8 for the Z-axis slider, and 2 for the lead screw. In the additive machining area 143, there are 37 independent lubrication points: 16 for the X-axis slider, 4 for the X-axis gear, 6 for the Y-axis slider, 1 for the hard rail, and 8 for the Z-axis slider. All lubrication points are connected to the automatic lubrication system's oil distributor via pipelines. No. 46 guide rail oil is used, supporting both time-based lubrication (20 seconds of oil supply per cycle, 48-60 minutes interval) and stroke-based lubrication (20 seconds of lubrication per 100 meters of travel). An automatic alarm prompts for oil replenishment when the oil level is below the warning value. Bearings use pre-sealed special high-speed, high-temperature lubricating grease, which only needs to be refilled during maintenance and replacement. This solves the problems of uneven and untimely manual lubrication leading to rapid wear of moving parts and poor precision retention. The precise and continuous lubrication of moving parts significantly reduces the wear rate of components such as guide rails, lead screws, gears, and racks, extending the service life and accuracy maintenance cycle of the equipment and reducing maintenance costs. The chip removal system is equipped with an independent scraper-type chip removal unit 7 at the chip removal port of the subtractive processing zone 141 and the additive processing zone 143. The chain pitch of the chip conveyor is 50.8mm, the scraper is made of 5mm carbon steel plate and bent into shape, and it is equipped with a 0.75Kw motor with a reduction ratio of 1:120. The outer shell is powder coated with RAL7021 dark gray. The water outlets of the two chip conveyors are symmetrically installed in the direction of the motor. They are equipped with a filter water tank with an oil-water separation mechanism to purify the cutting fluid. This solves the problem that chips, dust and residues are mixed and accumulated during the additive and subtractive processing, and a single chip removal system cannot adapt to the chip removal needs of the two processes. It can independently handle the waste generated by the two types of processing. The oil-water separation mechanism can extend the service life of the cutting fluid, avoid impurities contaminating the cutting fluid and causing wear on the spindle head, and ensure a clean processing environment and reliable equipment operation. The pneumatic system adopts a two-stage purification architecture. The external air source is coarsely filtered by an air compressor and treated by a refrigerated dryer before being connected to the machine tool. After passing through the secondary purification components and oil mist lubricator inside the machine tool, it is delivered to the air-using units such as the spindle tool release cylinder and tool magazine. The air source pressure is adjustable, and the oil mist lubricates components such as the tool release cylinder. The water separator uses a float-type automatic drainer to automatically discharge condensate, which solves the problem of pneumatic component failure and reduced tool changing accuracy caused by air source impurities and moisture. It ensures the stability and reliability of pneumatic actions such as spindle tool changing and is suitable for the process requirements of automatic tool changing in subtractive machining.

[0039] In one embodiment, refer to Figure 12 and Figure 14As can be seen, the anti-collision structure 20 of this device is set on the opposing sides of the additive crossbeam slide plate 171 and the subtractive crossbeam slide plate 161 of the integral crossbeam. Each of the two sets of slide plates has an anti-collision bracket 21 fixed on its opposite end face. The two sets of anti-collision brackets 21 are respectively installed with staggered collision blocks 23 and limit switches 22. All limit switches 22 are connected to the emergency stop circuit of the CNC system. When the additive crossbeam slide plate 171 and the subtractive crossbeam slide plate 161 move towards each other along the Y direction of the crossbeam to the safe distance threshold during operation, the limit switch 20 on one side of the anti-collision bracket 21 will activate. Switch 22 first touches the stop block 23 on the other side of the anti-collision bracket 21. After the limit switch 22 is triggered, it immediately sends a signal to the CNC system, which immediately cuts off the drive power of the corresponding slide to stop its movement. If the first set of limit switches 22 fails to trigger normally due to a fault, the second set of limit switches 22 and the stop block 23, which are arranged in a staggered manner, will be triggered again when the two sets of slides get closer. The design of double staggered protection completely avoids the collision of the two slides when the software scheduling logic fails, and provides redundant safety guarantee for the independent or collaborative operation of the two processing units.

[0040] Working principle: After the equipment is powered on, it first enters the initial standby state. The integral crossbeam 12 is stopped at the X-axis origin of the bed base component 11. The subtractive crossbeam slide 161 is locked at the Y-axis origin of the subtractive processing area 1151. The additive crossbeam slide 171 is locked at the Y-axis origin of the additive processing area 1153. The subtractive slide 162 and the additive Z-axis slide 172 return to the highest point of the Z-axis. After the oil distributor 181, scraper chip removal unit 182 and pneumatic system complete self-checks, they are in standby state. When the CNC system receives a pure subtractive machining task, it switches from the initial standby state to the subtractive machining-only state. The main control module determines that the workpiece is clamped in the subtractive machining area 1151 and issues a command. The fully closed-loop servo drive submodule drives the servo motor 141 of the X-axis drive unit 14 to drive the planetary gearbox 142 and the gear rack structure 143 to move, dragging the integral crossbeam 12 along the X-axis linear guide rail 116 on the top surface of the left guide rail seat 112 and the right guide rail seat 113 to the target X-axis station. Simultaneously, it drives the subtractive crossbeam slide plate 161 along the T-axis of the integral crossbeam 12. The linear guide rail 122 moves to the target position in the Y direction, the subtractive ram 162 descends to the machining start height, the auxiliary system control submodule triggers the subtractive side lubrication point to supply oil through the oil distributor 181, the scraper chip removal unit 182 corresponding to the subtractive machining area 1151 starts, the pneumatic system supplies air to the spindle tool release cylinder to complete the target tool change, the subtractive electric spindle actuator 163 starts to perform cutting machining according to the planned path, after machining is completed, each subtractive axis returns to the origin in sequence, the scraper chip removal unit 182 runs for a delay to complete chip removal and then shuts down, the system switches back to the initial standby state; When the CNC system receives a pure additive machining task, it switches from the initial standby state to the additive machining-only state. After the main control module determines that the workpiece is clamped in the additive machining area 1153, it issues a command. The fully closed-loop servo drive submodule drives the integral crossbeam 12 to move along the X-direction linear guide rail 116 to the target X-direction station. The additive crossbeam slide plate 171 moves along the Y-direction auxiliary upper guide rail 123 and the Y-direction side auxiliary guide rail 124 of the integral crossbeam 12 to the Y-direction target position. The additive Z-direction slide table 172 descends to the additive deposition starting height. The auxiliary system control submodule triggers the lubrication point on the additive side to supply oil through the oil distributor 181, and the fume extraction unit matched with the fume hood 1735 starts. The welding power supply starts from the station submodule, and the wire feeding mechanism feeds wire synchronously. The double-swing additive head execution end 1731 controls the C-axis rotating base 1732 and the A-axis swing bracket 1733 to adjust the spray angle according to the processing path to perform deposition processing. After processing is completed, each axis of the additive manufacturing returns to its origin in sequence. The fume extraction unit runs for a delay to complete the fume extraction and then shuts down, and the system switches back to the initial standby state. When the CNC system receives a composite machining task involving additive and subtractive materials, it switches from the initial standby state to a time-sharing collaborative machining state. The main control module determines that the workpiece is clamped in the composite machining area 1152 and then activates the anti-interference locking logic. First, it issues an additive machining command. The additive beam slide 171 moves into the composite machining area 1152 to perform the deposition operation, while the subtractive beam slide 161 locks itself in the subtractive machining area 1151 to await further instructions. After the current batch of additive deposition is completed, the additive beam slide 171 returns to its origin in the additive machining area 1153 and locks. The system switches to subtractive machining mode. The subtractive beam slide 161 moves into the composite machining area 1152 to perform milling finishing on the deposited area. After machining is completed, the subtractive beam slide 161 returns to the origin of the subtractive machining area 1151 and is locked. If multi-layer composite machining is required, the above switching process is repeated. After all machining is completed, all parts return to the origin and the system switches back to the initial standby state. During the entire collaborative process, the main control module monitors the position coordinates of the two beam slides in real time. It is strictly forbidden for the two to enter the composite machining area 1152 at the same time to avoid interference. If any abnormal conditions are detected during processing, such as insufficient lubricant level, malfunction of scraper chip removal unit 182, abnormal pneumatic pressure, or excessive position error, the system will immediately switch to the pause protection state. The current machining axis will remain in its current position, while the other machining unit will be locked at the origin and an alarm will be triggered. After the fault is cleared, the system can choose to continue machining from the interrupted position or return to the origin to restart. If the fault cannot be cleared, the system will switch to the emergency stop state, and all motion axes will be de-energized and braked, and all auxiliary units will stop operating.

[0041] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various equivalent changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A five-axis linkage additive and subtractive machining composite machine tool, comprising a bed base assembly (11), an integral crossbeam (12), a machining execution unit, and a CNC system, characterized in that: The integral crossbeam (12) is horizontally mounted on the left guide rail seat (112) and the right guide rail seat (113) of the bed base assembly (11). The integral crossbeam (12) is equipped with independent subtractive crossbeam slide plates (161) and additive crossbeam slide plates (171) along the Y direction. The subtractive crossbeam slide plates (161) and the additive crossbeam slide plates (171) are each equipped with independent X-axis, Y-axis and Z-axis motion axes. The bottom end of the subtractive beam slide plate (161) is equipped with a subtractive electric spindle actuator (163), and the bottom end of the additive beam slide plate (171) is equipped with a double pendulum additive head actuator (1731). The worktable (115) of the bed base component (11) is divided into a subtractive processing area (1151), a composite processing area (1152), and an additive processing area (1153) along the X direction. The subtractive crossbeam slide plate (161) and the additive crossbeam slide plate (171) can move independently along the crossbeam to the corresponding processing area, or can work together in the composite processing area (1152) in a time-sharing manner.

2. The five-axis linkage additive and subtractive composite machine tool according to claim 1, characterized in that, The bed base component (11) includes a bed (111), a left guide rail seat (112), a right guide rail seat (113), and a worktable (115). The right guide rail seat (113) is a box-shaped structure with internal reinforcing ribs (114) and is symmetrically fixed on both sides of the top of the bed (111). The worktable (115) is fixed on the top of the bed (111) and located in the middle area between the left guide rail seat (112) and the right guide rail seat (113). The left guide rail seat (112), the right guide rail seat (113), and the worktable (115) are separate assembly structures. The closed height of the equipment can be adjusted by adjusting the installation height of the left guide rail seat (112) and the right guide rail seat (113).

3. The five-axis linkage additive and subtractive composite machine tool according to claim 2, characterized in that, The top surfaces of the left guide rail seat (112) and the right guide rail seat (113) are each arranged with two parallel X-direction linear guide rails (116) along the X direction. The bottom of the integral crossbeam (12) is equipped with two sets of sliders (13) corresponding to the position of each guide rail to achieve guiding cooperation. On the outer sides of the left guide rail seat (112) and the right guide rail seat (113), two sets of servo motors (141) and planetary gearboxes (142) are set together. The integral crossbeam (12) is driven to move along the X direction through the gear rack structure (143). The two sets of servo motors (141) on the same side adopt the same direction differential speed elimination control to eliminate transmission gap.

4. The five-axis linkage additive and subtractive composite machine tool according to claim 3, characterized in that, The area of ​​the integral crossbeam (12) corresponding to the subtractive crossbeam slide plate (161) is the subtractive processing area (1151). The crossbeam of the subtractive processing area (1151) adopts a box-in-box structure with cross reinforcing ribs (121) arranged inside. Four linear guide rails (122) arranged in a T-shape are arranged along the Y direction on the surface of the crossbeam facing the subtractive crossbeam slide plate (161). The subtractive crossbeam slide plate (161) is assembled and cooperated with the four guide rails through eight sets of sliders (13). The subtractive slide block (162) is slidably assembled on the front end face of the subtractive crossbeam slide plate (161) along the Z direction.

5. The five-axis linkage additive and subtractive composite machine tool according to claim 3, characterized in that, The area of ​​the integral crossbeam (12) corresponding to the additive crossbeam slide plate (171) is the additive processing area (1153). The top surface of the crossbeam in the additive processing area (1153) is fixedly equipped with a Y-direction auxiliary upper guide rail (123), and the side facing the additive crossbeam slide plate (171) is fixedly equipped with a Y-direction side auxiliary guide rail (124). The two guide rails are arranged parallel along the Y direction. The back of the additive crossbeam slide plate (171) is assembled with the two Y-direction guide rails through a slider (13). The left and right sides of the additive crossbeam slide plate (171) are fixedly equipped with a left support plate (1711) and a right support plate (1712). The top of the additive crossbeam slide plate (171) is fixedly equipped with an L-shaped heightening seat (1713). The Y-direction pressure plate (1714) is installed on the mating side of the additive crossbeam slide plate (171) and the Y-direction guide rail to adjust the mating gap of the guide rail.

6. The five-axis linkage additive and subtractive composite machine tool according to claim 5, characterized in that, The surface of the additive beam slide (171) facing the processing end is arranged with four symmetrically distributed roller linear guides (122) along the Z direction. The additive Z-direction slide (172) is a vertical box-shaped structure with multiple sets of hollow rectangular reinforcing windows on the surface. The back is assembled with the Z-guides through a slider (13). A rectangular Z-axis slide plate (1721) is fixedly mounted on the top of the additive Z-axis slide (172), and a long strip Z-axis grating ruler bracket (1722) is fixedly mounted on the side facing the additive crossbeam slide plate (171). A circular hub (1723) is fixedly mounted on the lower middle side of the additive Z-axis slide (172) to store the power and signal cables of the double pendulum additive head (173).

7. The five-axis linkage additive and subtractive composite machine tool according to claim 6, characterized in that, The double-pendulum additive head actuator (1731) is fixedly mounted on the bottom end of the additive Z-axis slide (172), and has swing freedom of ±90° on the A-axis and ±180° on the C-axis; The nozzle of the double pendulum additive head (173) is fixedly fitted with an annular flared fume hood (1735) that surrounds the processing area.

8. The five-axis linkage additive and subtractive composite machine tool according to claim 4 or 5, characterized in that, At least 40 independent lubrication points are arranged in the subtractive processing area (1151), and at least 37 independent lubrication points are arranged in the additive processing area (1153). All lubrication points are connected to the oil distributor (181) of the automatic lubrication system of the equipment through pipelines. The chip discharge ports of the additive processing area (1153) and the subtractive processing area (1151) are each equipped with an independent scraper-type chip discharge unit (182).

9. A five-axis linkage additive and subtractive manufacturing composite machine tool control system, characterized in that, For controlling the five-axis linkage additive and subtractive composite machine tool according to any one of claims 1-8, comprising: Main control module: Built on a multi-channel CNC platform, it is the core control unit of the system, with a built-in custom instruction set for additive and subtractive composite processes and a customized human-machine interface; Subtractive manufacturing process control submodule: The communication end is connected to the main control module, and the output end is connected to the subtractive electric spindle actuator (163), tool magazine, and cutting cooling unit. It is used to parse the subtractive machining path and output the corresponding process execution command. Additive manufacturing process control submodule: The communication end is connected to the main control module, and the output end is connected to the double swing additive head (173), the wire feeding mechanism, and the dust collection unit. It is used to analyze the additive processing path and output the corresponding process execution instructions. Full closed-loop servo drive submodule: The communication end is connected to the main control module, and the input and output ends are connected to the servo motors (141) of each axis, the Z-axis grating ruler bracket (1722) and the encoder feedback unit, which are used to collect position feedback data of each axis, compensate mechanical errors and output axis motion drive commands; Welding power source slave module: It connects to the main control module via real-time Ethernet protocol and connects to the additive welding power source for transmitting customized waveform control commands to the welding power source, while collecting current, voltage, and temperature operating status data of the welding power source. Auxiliary system control submodule: The communication end is connected to the main control module, and the output end is connected to the lubrication system, scraper chip removal unit (182), and pneumatic system. It is used to control the start and stop of each auxiliary unit, adjust the operating parameters, and monitor the status.

10. The five-axis linkage additive and subtractive composite machine tool control system according to claim 9, characterized in that, The main control module first calls the built-in processing partition anti-interference scheduling logic, determines the permission of the workbench (115) area corresponding to the current processing task, and then issues an instruction. It issues processing instructions for the subtractive processing area (1151) only to the subtractive process control submodule, processing instructions for the additive processing area (1153) only to the additive process control submodule, or simultaneously issues time-sharing processing instructions for the composite processing area (1152) to the two process control submodules, so as to realize the seamless switching and collaborative operation of additive and subtractive processes. After receiving the scheduling instruction, the subtractive process control submodule sends the subtractive path motion parameters to the fully closed-loop servo drive submodule, and at the same time sends the coordinated action instruction to the tool magazine and the cutting cooling unit. The fully closed-loop servo drive submodule collects feedback data from the grating rulers of each axis in real time, compensates for thermal deformation errors, and drives the subtractive gantry assembly to run along the planned path. The processing status data is transmitted back to the main control module in real time. After receiving the scheduling instruction, the additive manufacturing process control submodule sends the additive path motion parameters to the fully closed-loop servo drive submodule, and at the same time sends the coordinated action instruction to the wire feeding mechanism and the dust collection unit. While the fully closed-loop servo drive submodule drives the additive gantry assembly to run along the planned path, the main control module synchronizes the welding torch movement trajectory, welding power output parameters and wire feeding rate in real time from the welding power station submodule to form a closed-loop control of the additive layer width or layer height. During the processing, the auxiliary system control submodule receives the synchronization command from the main control module and automatically triggers the corresponding lubrication point oil supply, scraper chip removal unit (182) start and stop, and pneumatic unit air supply action according to the processing technology type. If the auxiliary unit is detected to be operating abnormally, an alarm signal is directly uploaded to the main control module to trigger the processing pause logic.

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